TWI463965B - Magnetic maneuvering system of capsule endoscope - Google Patents

Description

Capsule endoscope magnetic control system

The present invention relates to the system design of a capsule endoscope, and more particularly to a capsule endoscope magnetron system that can control the position and orientation of a capsule endoscope.

Endoscopy is an effective and commonly used tool in the diagnosis and treatment of organisms. The traditional endoscopic technique is to mount a photographic lens on the front end of the fiberoptic catheter of the endoscope, and then insert the photographic lens and the fiber optic catheter from the patient's mouth or anus into the inside of the living body, and the photographic lens to the inside of the living body. Image capture is performed, and the captured image is transmitted back to the external machine via a fiber optic conduit.

However, since the overall length of the digestive system inside the living body is quite long, and there are many bending segments, the image capturing result of the photographic lens is affected, and the digestive system that is sent from the oral cavity of the living body to the inside of the living body by the optical fiber catheter will Make the patient feel a great discomfort.

However, in recent years, the medical device field has developed a capsule endoscope that enters the patient's digestive system by swallowing the drug. There is no need to connect the fiber optic catheter, it will not cause the patient to feel uncomfortable, and there is no length problem. Moreover, the capsule endoscope relies on the gastrointestinal motility to move in the digestive system, which has better image capturing effect than the conventional intubation endoscope.

However, since the capsule endoscope enters the digestive system by swallowing, the volume design cannot be too large, and the small-volume capsule endoscope will roll inside the stomach or the large intestine, which is not effective. Get images inside the digestive system. Furthermore, since the existing capsule endoscopes are used The gastrointestinal motility advances in the digestive system, and therefore, it is also a problem that the position of the capsule endoscope cannot be moved from outside the body by the examiner.

In recent years, similar devices such as nuclear magnetic resonance instruments have been used to generate a large magnetic field outside the body for guiding, moving or rotating the angle of view of the capsule endoscope in the digestive tract in order to obtain a better image capturing effect. However, external instruments of such methods are not easy to obtain and the required acquisition costs are extremely high. For the tester, it is not intuitive and easy to operate.

Therefore, how to overcome the above-mentioned lack of the prior art has become a problem that is currently being solved.

The object of the present invention is to provide a capsule endoscope magnetic control system which uses a magnetic active member of a control device to control a magnetic follower of a capsule endoscope by magnetic force to control the position of the capsule endoscope and the shooting angle.

The capsule endoscope magnetic control system provided by the invention comprises a capsule endoscope, a ring sleeve and a control device. The capsule endoscope is applied to the image capturing inside the living body; the annular ferrule is coupled to the outer surface of the capsule endoscope, the annular ferrule has a plurality of magnetic followers, the plurality of The magnetic follower is disposed on the outer surface of the capsule endoscope by the annular sleeve; the control device has a magnetic active member, and the control device is disposed on the outside of the living body of the living body The capsule endoscope is controlled, wherein the control device utilizes the magnetic active member to magnetically control the plurality of magnetic followers of the annular sleeve to cause the capsule endoscope to move with the magnetic follower Correspondingly, rotation and movement are performed inside the living body.

It can be seen from the above that the present invention utilizes the magnetic active member of the control device to magnetically control the magnetic follower of the capsule endoscope so that the capsule endoscope can be rotated or moved inside the living body under the control of the control device. The position of the capsule endoscope is used to completely capture the image of the inside of the living body, thereby solving the problem in the prior art that the position of the capsule endoscope in the interior of the living body cannot be controlled. The cost of the present invention is also much less expensive than conventional techniques such as nuclear magnetic resonance.

The other embodiments of the present invention will be readily understood by those skilled in the art from this disclosure.

Please refer to FIG. 1 , which is a schematic diagram of a capsule endoscope magnetic control system of the present invention. As shown, the capsule endoscope magnetron system 1 of the present invention includes a capsule endoscope 10, an annular ferrule 11 and a control device 12. The capsule endoscope 10 has an outer surface 101, and the annular ferrule 11 is sleeved on the outer surface 101 of the capsule endoscope 10, and the annular ferrule 11 has opposite first and second ends 11a, 11b, and The surface of the annular ferrule 11 has a plurality of magnetic followers 111, and the plurality of magnetic followers 111 are divided into a first magnetic follower 110 and a second magnetic follower 112. The control device 12 has a rod body 120, a magnetic driving member 121, and a cover body 122. The rod body 120 has a top portion 120a. The magnetic driving member 121 and the cover body 122 are disposed on the top portion 120a of the rod body 120, and the cover body 122 is covered on the periphery of the magnetic driving member 121.

The capsule endoscope magnetic control system 1 of the present invention controls the magnetic properties of the annular ferrule 11 by magnetic force correspondingly by the magnetic active member 121 of the control device 12. The follower 111 causes the capsule endoscope 10 to rotate or move with the magnetic follower 111 under the control of the magnetic driving member 121. The magnetic active member 121 can be a permanent magnet or an electromagnetic coil.

Please refer to Fig. 2, which is a schematic diagram of the magnetic pole arrangement of the magnetic follower of the annular ferrule. A plurality of magnetic followers 111 are distributed on the surface of the annular ferrule 11, and each of the magnetic followers 111 has N poles 111a, 111a' and S poles 111b, 111b', respectively. Fig. 2 is a top view of the capsule endoscope 10 of Fig. 1, so that the magnetic follower 111 shown in Fig. 2 is the top of the magnetic follower 111. The figure shows that the annular sleeve 11 is distributed with a plurality of magnetic followers 111, and each of the magnetic followers 111 has an N pole 111a, 111a' and an S pole 111b, 111b', wherein the first magnetic follower 110 The N pole 111a is located at the first end 11a, the S pole 111b of the first magnetic follower 110 is located at the second end 11b, and the N pole 111a' of the second magnetic follower 112 is located at the second end 11b, the second The S-pole 111b' of the magnetic follower 112 is located at the first end 11a; and the magnetic follower 111 is disposed in such a manner that any two adjacent magnetic followers 111 are attached to the first end 11a or the second end. 11b is disposed adjacent to the different magnetic poles, that is, the first magnetic follower 110 and the second magnetic follower 112 are staggered. For example, in the case of any of the magnetic followers 111, if the first magnetic follower 110 is disposed in the annular ferrule 11, when the S pole 111b is disposed upward in the annular ferrule 11, the The magnetic poles of the second magnetic followers 112 disposed on the two sides of the first magnetic follower 110 are N poles 111a' different from the S poles 111b. In other words, when any one of the magnetic followers 111 is disposed in the ring sleeve 11 with the S poles 111b, 11b' facing upward, then the S The magnetic followers 111 on both sides of the poles 111b, 11b' are magnetically N poles 111a', 111a.

In addition, in order to allow the annular ferrule 11 to rotate under the control of the control device 12, the annular ferrule 11 is provided with a plurality of magnetic followers 111, although six magnetic followers are shown in the drawings. 111 is distributed in the annular ferrule 11, but the number is only used as an embodiment, but it is not limited thereto. As long as it is a plurality of magnetic followers 111, an even number is preferred.

The arrangement of the N poles 111a, 111a' and the S poles 111b, 111b' of the magnetic follower 111 is also used only for the description of the embodiment.

Please refer to FIG. 3, which is a circuit block diagram of a capsule endoscope magnetic control system of the present invention. The capsule endoscope 10 has a light emitting unit 102, an image detecting unit 103, and a power and signal transmitting unit 104. The light emitting unit 102 is located inside the capsule endoscope 10 for providing the light source required for the capsule endoscope 10. The image detecting unit 103 is also located inside the capsule endoscope 10 for capturing the inside of the living body. The image, power and signal transmission unit 104 is respectively connected to the light-emitting unit 102 and the image detecting unit 103 for supplying power required by the light-emitting unit 102, and can transmit the image captured by the image detecting unit 103 to the outside.

The control unit 12 has a drive unit 123 located in the shaft 120 of the control unit 12. The magnetic drive unit 121 is coupled to the drive unit 123 for rotation under the drive of the drive unit 123. Among them, the present invention uses a stepping motor as the driving unit 123 to drive the magnetic driving member 121 to rotate.

Need to explain, although the power and signal transmission shown in Figure 3 The unit 104 is a transmission line for transmitting power to the capsule endoscope 10 and transmitting the image back to the outside. However, the transmission line is only an implementation of the present invention. In practice, a micro RF chip and a battery (not shown) may be used as the power and signal transmission unit 104 to provide power and return images instead of the transmission line. However, since the use of the transmission line as the power and signal transmission unit 104 can reduce the volume of the capsule endoscope 10 and also reduce the cost of the capsule endoscope 10, in the present invention, the transmission line is used as an embodiment of the power and signal transmission unit 104. The description is not limited to the scope of the invention (ie, various implementation methods such as radio frequency wafers and batteries are available).

Please refer to FIG. 4, which is a schematic view of a preferred embodiment of the present invention. In the actual implementation of the present invention, the capsule endoscope 10 is swallowed by the organism to swallow the drug, so that the capsule endoscope 10 can enter the interior 13 of the living body, and the power and signal transmission unit 104 provide power to the capsule. The light-emitting unit 102 of the capsule endoscope 10 receives the power and emits light to provide a light source required for the image detecting unit 103 to capture the image, and the image detecting unit 103 captures the image and then transmits the image. The signal transmission unit 104 transmits the captured image back to the outside.

If the angle of view of the capsule endoscope 10 is to be changed, the magnetic actuator 121 of the control device 12 is placed against the magnetic follower 111 of the annular ferrule 11 with the control device 12 correspondingly positioned close to the position of the capsule endoscope 10. When the magnetism is generated and the control device 12 is moved, the capsule endoscope 10 can be moved under the magnetic force of the magnetic driving member 121, correspondingly moving inside the living body 13 as the control device 12 moves. In addition, if you want to make the capsule look inside When the mirror 10 is rotated inside the living body 13 to change the shooting angle, the magnetic driving member 111 of the annular ferrule 11 is correspondingly magnetically attracted by the magnetic driving member 121 of the control device 12, and the driving unit 123 of the control device 12 is driven. When the magnetic driving member 121 is driven to rotate, and the magnetic follower 111 is rotated under the magnetic control of the magnetic driving member 121, the capsule endoscope 10 can rotate in the interior 13 of the living body along with the rotation of the magnetic follower 111. The form is rotated to change the angle of view of the capsule endoscope 10.

In addition to this, the shooting angle of the capsule endoscope 10 can also be changed in another rotation manner. Correspondingly, the magnetic driving member 121 of the control device 12 magnetically attracts the magnetic follower 111 of the annular ferrule 11 and drives the magnetic driving member 121 to perform three-dimensional spatial rotation by the driving unit 123, so that the magnetic driven member 111 is Under the magnetic control of the magnetic active member 121, the capsule endoscope 10 is rotated in a three-dimensional space inside the living body 13 to change the shooting angle of the capsule endoscope 10.

In one embodiment, the present invention can utilize a light emitting diode (LED) as the light emitting unit 102 to provide a light source, and use CMOS as the image detecting unit 103 to capture an image of the interior 13 of the living body.

The above embodiments are intended to illustrate the principles of the invention and its effects, and are not intended to limit the invention. Any of the above-described embodiments may be modified by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention should be as set forth in the appended claims.

1‧‧‧Capsule endoscope magnetic control system

10‧‧‧Capsule endoscope

101‧‧‧ outer surface

102‧‧‧Lighting unit

103‧‧‧Image detection unit

104‧‧‧Signal transmission unit

11‧‧‧ ring fitter

11a‧‧‧ first end

11b‧‧‧second end

110‧‧‧First magnetic follower

111‧‧‧Magnetic followers

111a, 111a’‧‧‧N pole

111b, 111b’‧‧‧S pole

112‧‧‧Second magnetic follower

12‧‧‧Control device

120‧‧‧ rod body

120a‧‧‧ top

121‧‧‧Magnetic active parts

122‧‧‧ Cover

123‧‧‧Drive unit

13‧‧‧The interior of the organism

1 is a schematic view of a capsule endoscope magnetic control system of the present invention; 2 is a schematic diagram of the magnetic pole arrangement of the magnetic follower of the annular sleeve; FIG. 3 is a schematic block diagram of the magnetic circuit of the capsule endoscope of the present invention; and FIG. 4 is a schematic view of a preferred embodiment of the present invention.

1‧‧‧Capsule endoscope magnetic control system

10‧‧‧Capsule endoscope

101‧‧‧ outer surface

11‧‧‧ ring fitter

111‧‧‧Magnetic followers

12‧‧‧Control device

120‧‧‧ rod body

120a‧‧‧ top

121‧‧‧Magnetic active parts

122‧‧‧ Cover

Claims (9)

A capsule endoscope magnetic control system, comprising: a capsule endoscope, which is applied to an image capturing inside a living body; and a ring-shaped fitting device, which is fitted on the outer surface of the capsule endoscope, the annular fitting The first and second ends are opposite to each other, and the annular sleeve has a plurality of magnetic followers, each of the magnetic followers having N magnetic poles and S magnetic poles, and the plurality of magnetic driven components Dividing into a first magnetic follower and a second magnetic follower, the N magnetic pole of the first magnetic follower is located at the first end, and the S magnetic pole of the first magnetic follower is located at the second end, the first The N magnetic poles of the two magnetic followers are located at the second end, the S magnetic poles of the second magnetic follower are located at the first end, and the adjacent magnetic retainers are adjacent to each other by different magnetic poles; And a control device having a magnetic active member for controlling a capsule endoscope disposed inside the living body outside the living body, wherein the control device controls the plurality of magnetic waves through the magnetic active member The magnetic follower acts to cause the capsule endoscope to follow the magnetic The movable member is actuated to correspond to the inside of a living body is rotated with the mobile. The capsule endoscope magnetic control system according to claim 1, wherein the control device further comprises a rod body having a top portion, a driving unit disposed in the rod body, and a cover body covering the magnetic driving member. Wherein the magnetic active member is disposed on the top portion and the magnetic active member magnetic active member is coupled to the driving unit for being driven by the driving unit Move and turn. The capsule endoscope magnetic control system of claim 2, wherein the driving unit is a stepping motor, and the stepping motor drives the magnetic driving member to perform three-dimensional spatial rotation. The capsule endoscope magnetic control system according to claim 1, wherein the capsule endoscope has a light emitting unit and an image detecting unit. The capsule endoscope magnetic control system of claim 4, wherein the light emitting unit is a light emitting diode (LED). The capsule endoscope magnetic control system of claim 4, wherein the image detecting unit is a CMOS image detecting unit. The capsule endoscope magnetic control system of claim 1, wherein the capsule endoscope comprises a power and signal transmission unit. The capsule endoscope magnetic control system of claim 7, wherein the power and signal transmission unit is a transmission line. The capsule endoscope magnetic control system of claim 7, wherein the power and signal transmission unit comprises a radio frequency chip and a battery.